EP4501552A4 - Roboterabsteigtreppe und steuerungsverfahren dafür - Google Patents

Roboterabsteigtreppe und steuerungsverfahren dafür

Info

Publication number
EP4501552A4
EP4501552A4 EP23857751.4A EP23857751A EP4501552A4 EP 4501552 A4 EP4501552 A4 EP 4501552A4 EP 23857751 A EP23857751 A EP 23857751A EP 4501552 A4 EP4501552 A4 EP 4501552A4
Authority
EP
European Patent Office
Prior art keywords
staircase
descent
robot
control method
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23857751.4A
Other languages
English (en)
French (fr)
Other versions
EP4501552A1 (de
Inventor
Hyunki Hong
Youngil Koh
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Samsung Electronics Co Ltd
Original Assignee
Samsung Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020220106245A external-priority patent/KR20240028125A/ko
Application filed by Samsung Electronics Co Ltd filed Critical Samsung Electronics Co Ltd
Publication of EP4501552A1 publication Critical patent/EP4501552A1/de
Publication of EP4501552A4 publication Critical patent/EP4501552A4/de
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B25/00—Control of escalators or moving walkways
    • B66B25/003—Methods or algorithms therefor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions [2D]
    • G05D1/435—Control of position or course in two dimensions [2D] resulting in a change of level, e.g. negotiating lifts or stairs
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G05D1/633—Dynamic obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/30—Specific applications of the controlled vehicles for social or care-giving applications
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/60—Open buildings, e.g. offices, hospitals, shopping areas or universities
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Escalators And Moving Walkways (AREA)
EP23857751.4A 2022-08-24 2023-08-24 Roboterabsteigtreppe und steuerungsverfahren dafür Pending EP4501552A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020220106245A KR20240028125A (ko) 2022-08-24 2022-08-24 에스컬레이터에서 하차하는 로봇 및 그 제어 방법
PCT/KR2023/012572 WO2024043719A1 (ko) 2022-08-24 2023-08-24 에스컬레이터에서 하차하는 로봇 및 그 제어 방법

Publications (2)

Publication Number Publication Date
EP4501552A1 EP4501552A1 (de) 2025-02-05
EP4501552A4 true EP4501552A4 (de) 2025-12-03

Family

ID=90000309

Family Applications (1)

Application Number Title Priority Date Filing Date
EP23857751.4A Pending EP4501552A4 (de) 2022-08-24 2023-08-24 Roboterabsteigtreppe und steuerungsverfahren dafür

Country Status (3)

Country Link
US (1) US12422851B2 (de)
EP (1) EP4501552A4 (de)
CN (1) CN119317522A (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119929636A (zh) * 2023-11-02 2025-05-06 奥的斯电梯公司 用于输送装置的控制方法、控制系统、控制节点和控制端
JP7775376B1 (ja) 2024-06-20 2025-11-25 東芝エレベータ株式会社 自律移動体、自律移動体制御システムおよび自律移動体制御方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210299873A1 (en) * 2018-12-11 2021-09-30 Brain Corporation Systems, apparatuses, and methods for detecting escalators

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012115313A (ja) * 2010-11-29 2012-06-21 Equos Research Co Ltd 歩行支援装置、及び歩行支援プログラム
KR102307777B1 (ko) 2015-04-14 2021-10-05 엘지전자 주식회사 로봇 청소기 및 그의 제어방법
JP6569342B2 (ja) 2015-07-10 2019-09-04 日本精工株式会社 移動ロボット
JP6571631B2 (ja) 2016-12-26 2019-09-04 国立大学法人 東京大学 走行車両及び走行車両の制御方法
KR102012548B1 (ko) 2017-01-25 2019-08-20 엘지전자 주식회사 로봇의 진입 가능 영역을 식별하는 방법 및 이를 구현하는 로봇
JP2019001613A (ja) 2017-06-15 2019-01-10 株式会社日立ビルシステム 乗客コンベアー装置、乗客コンベアー装置の制御方法、および乗客コンベアー装置制御システム
KR102677261B1 (ko) 2019-02-13 2024-06-25 삼성전자주식회사 청소 로봇 및 그 제어 방법
KR102791073B1 (ko) * 2019-06-28 2025-04-08 엘지전자 주식회사 모바일 로봇을 무빙워크에 진입시키는 방법 및 그 모바일 로봇
KR102240688B1 (ko) 2020-01-29 2021-04-14 울산과학기술원 영화관의 자율주행 스마트 카트
CN113651221B (zh) 2021-07-13 2023-05-02 日立楼宇技术（广州）有限公司 一种机器人搭乘扶梯的方法、装置及存储介质
CN113651220B (zh) 2021-07-13 2023-09-12 日立楼宇技术（广州）有限公司 一种辅助机器人搭乘扶梯系统、方法、装置及存储介质
CN113753723B (zh) 2021-08-02 2023-09-12 日立楼宇技术（广州）有限公司 一种辅助搭乘扶梯的设备、方法、装置及存储介质

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210299873A1 (en) * 2018-12-11 2021-09-30 Brain Corporation Systems, apparatuses, and methods for detecting escalators

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
HIROTA KAZUHIRO ET AL: "Development of an escalator riding robot: Experiment of riding on an up escalator", 2014 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), IEEE, 18 August 2014 (2014-08-18), pages 1206 - 1211, XP032669758, [retrieved on 20140915], DOI: 10.1109/COASE.2014.6899480 *
See also references of WO2024043719A1 *

Also Published As

Publication number Publication date
EP4501552A1 (de) 2025-02-05
US12422851B2 (en) 2025-09-23
CN119317522A (zh) 2025-01-14
US20240069555A1 (en) 2024-02-29

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Ipc: B25J 13/08 20060101ALI20251030BHEP

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Ipc: B66B 25/00 20060101ALI20251030BHEP

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